A hydraulic control system for a work machine is disclosed. The hydraulic control system has a fluid actuator with first and second chambers, first and second metering valves having valve elements movable to fill and drain the first and second chambers respectively, and at least one fluid sensor configured to generate a load signal indicative of a load on the fluid actuator. The hydraulic control system also has an operator interface device movable to generate a desired velocity signal of the fluid actuator. The hydraulic control system further has a controller in communication with the first and second metering valves, the at least one fluid sensor, and the operator interface device. The controller is configured to move the valve element of the first metering valve to a position based on the desired velocity signal, to determine a desired pressure for the second chamber based on the load signal and a pressure associated with the first chamber, and to move the valve element of the second metering valve to a position based on the determined desired pressure.